SPACE ROBOTICS

BY

SHUKKUR CS

13031321

INTRODUCTIONRobot

Mechanical body , computer has its brain Space Robotics

substitute or subsidized for the man activities in space

Possible to design and develop the advanced robot system

SIMPLE BLOCK DIAGRAM OF SPACE ROBOT

CHALLENGES IN DESIGNING

ZERO “g” EFFECT ON DESIGN VACUUM THERMAL EFFECT OTHERFACTORS SPACE MODULAR MANIPULATORS

ZERO “g” EFFECT

Arm will be light in massManipulator arm -stiffness based Joint actuators -selected based on

dynamic torque (i.e.; based on the acceleration of the arm).

Lack of inertial frame

VACUUM&THERMAL EFFECTTotal mass loss (TML) <1% Collected volatile condensable matter

(CVCM) <0.1%.Low temperature -embrittlement of the

material, weaken adhesive bonding and increase friction in bearings.

Large thermal gradients -distortion in structural elements and jamming of the mechanism

OTHER FACTORS Prime requirements of space systems

is lightweight and compactness.

Dynamic loads during launch-sinusoidal vibrations, random vibrations, acoustic noise and separation shock spectra.

SPACE MODULAR MANIPULATORSThe unique thermal, vacuum and

gravitational conditions of space drive different from the typical laboratory robot

Four main design drivers wereExtreme Thermal Conditions; High Reliability Requirements; Dynamic Performance; and Modular Design.

SYSTEM VERIFICATION&TESTING

The commonly used simulations for zero ‘g’ are

Flat floor test facilityWater immersionCompensation system

ROBOT PERFORMANCE ASSESSMENT

To identify the main source of error which perturb the accuracy of the arm.

To decide if the arm or the work cell must be calibrated.

To compare the expected improvement in accuracy in calibration.

ROBOT CALIBRATION

Error sources are identified by a bottom up analysis

Error sources are identified and are sorted into three categories

Systematic error Pseudo systematic errorRandom errors

STRUCTURE SPACE ROBOTS A. JOINTS B. ARM C. WRIST D. GRIPPER

JOINTSTwo types of joints areRoll joint Pitch joint Each joint consists ofElectro optical angular encoders Pancake type DC torque motors Harmonic gear Electromagnetically actuated friction brakes

ARM pick and place typeFit tem to clamp or fixtureHigh accuracy attainable

OPERATIONSPACE SHUTTLE ROBOT ARM UseSurvey the outside of the Space Shuttle Transport an EVA crew member at the

end of the arm Satellite deployment and retrieval Construction of International Space

Station

ROBOT ARM OPERATION MODE

THC RHC

FREE FLYING SPACE ROBOTS

In a free flying space robot a robot arm is attached to the satellite base

The satellite may start rotating in an uncontrollable way.

The antenna communication link may be interrupted

Free flying space robots

APPLICATION

In orbit positioning and assembly

Operation

Maintenance

Resupply

Scientific Applications under the above categories are

Scientific ExperimentationAssist crew in space station

assemblySpace servicing functionSpace craft enhancements Space Tug

CONCLUSION In the future, robotics will makes it

possible for billions of people to have lives of leisure instead of the current preoccupation with material needs.

There are hundreds of millions who are now fascinated by space but do not have the means to explore it.

For them space robotics will throw open the door to explore and experience the universe.